@other{https://resolver.caltech.edu/CaltechCSTR:1988.cs-tr-88-19,
    title = "Controlling Rigid Bodies with Dynamic Constraints",
    year = "1988",
    url = "https://resolver.caltech.edu/CaltechCSTR:1988.cs-tr-88-19",
    id = "record",
    doi = "10.7907/74710-08838"
}